CN112849870A - Carrying device, warehouse logistics system and tray carrying method - Google Patents

Abstract

The invention belongs to the technical field of warehouse logistics, and particularly discloses a carrying device, a warehouse logistics system and a tray carrying method. Handling device is used for carrying the tray, includes: a vehicle body; the mounting frame is horizontally and slidably arranged on the vehicle body; the fork arm, its first end with the mounting bracket is connected, the fork arm is configured to can stretch out with the motion level of mounting bracket in order to insert in the prong of tray, and can be relative the automobile body goes up and down in order to lift the tray, and when the fork arm lifts the tray, the automobile body with the relative motion of mounting bracket can make the tray is located the automobile body top. The warehouse logistics system comprises the carrying device. The tray conveying method adopts the conveying device to convey the tray. The carrying device, the warehouse logistics system and the tray carrying method provided by the invention can reduce the occupied area when the carrying device carries the trays, reduce the turning radius when the trays are carried, and are suitable for carrying various trays.

Description

Carrying device, warehouse logistics system and tray carrying method

Technical Field

The embodiment of the invention relates to the technical field of warehouse logistics, in particular to a carrying device, a warehouse logistics system and a tray carrying method.

Background

Along with the high-efficient and automatic development of storage logistics industry, the handling device that possesses self-service removal function is widely applied to each link of storage logistics industry to realize the high-efficient automatic transport to the material.

The tray is the carrier that is used for bearing the weight of the material in the storehouse commodity circulation, and the back is placed on the tray to the material, is moved to the tray position by handling device, docks the back with the fork hole on the tray, lifts the transport to the tray to the realization is to the transport of bearing the weight of the material on the tray. The conventional pallets are generally classified into japanese-type pallets, chinese-type pallets, and field-type pallets, etc. according to the manner of opening the fork holes in the pallets.

The existing equipment for carrying the tray is generally provided with an electric ox, an automatic forklift and the like, and the tray is carried by inserting fork arms of the electric ox and the automatic forklift into fork holes. The fork arms of the automatic forklift can vertically lift, so that the pallets of different types can be conveyed, but the automatic forklift generally has the defects of large volume, large turning radius, large occupied space and the like; the electric ground bull can only realize the transport to river style of calligraphy tray, can't carry the chinese style of calligraphy tray and field style of calligraphy tray, and application range is limited.

Disclosure of Invention

An object of the embodiments of the present invention is to provide a conveying device, which reduces the occupied space and the turning radius when a tray is conveyed, and improves the flexibility and the versatility of the conveying device.

Another object of an embodiment of the present invention is to provide a warehouse logistics system, which improves convenience and flexibility of carrying pallets by the warehouse logistics system.

Another object of the embodiments of the present invention is to provide a method for transporting pallets, which reduces the occupied space and the turning radius of the pallets during transportation, and improves the flexibility and versatility of the transporting device.

In order to achieve the purpose, the invention adopts the following technical scheme:

a handling device for handling pallets, comprising:

a vehicle body capable of autonomous movement;

the mounting frame is horizontally and slidably arranged on the vehicle body;

the fork arm, its first end with the mounting bracket is connected, the fork arm is configured to can stretch out with the motion level of mounting bracket in order to insert in the prong of tray, and can be relative the automobile body goes up and down in order to lift the tray, and when the fork arm lifts the tray, the automobile body with the relative motion of mounting bracket can make the tray is located the automobile body top.

As a preferable aspect of the carrying device, the carrying device further includes:

and the horizontal driving unit is arranged on the mounting rack and used for driving the mounting rack to horizontally move relative to the vehicle body.

As a preferable aspect of the carrying device, the horizontal driving unit includes:

a rolling member rotatably provided on the mounting bracket and in rolling contact with an upper surface of the vehicle body;

and the horizontal driving motor is used for driving the rolling member to rotate.

As a preferable technical scheme of the carrying device, an elastic member is arranged on the mounting frame and used for elastically pressing the rolling member against the upper surface.

As a preferred technical scheme of the carrying device, a containing groove is formed in the upper surface of the vehicle body, and the fork arm can be contained in the containing groove.

As a preferable technical solution of the carrying device, the mounting frame is movable along a groove wall of the accommodating groove.

As a preferable mode of the carrying device, a carrying surface for carrying the tray is formed on an upper surface of the vehicle body, and the tray can be supported on the carrying surface when the tray is moved to a position right above the vehicle body.

As a preferable aspect of the carrying device, the carrying device is configured to: when the fork arms extend out relative to the vehicle body and the tray is lifted, the vehicle body can automatically move to the bottom of the tray relative to the fork arms on the premise that the fixing frame is static.

In a preferred embodiment of the carrying device, the pair of fork arms is provided at an interval in the width direction, the vehicle body has at least one pair of driving wheels symmetrically provided in the width direction, and the pair of fork arms are symmetrically provided with respect to the symmetry axis of the pair of driving wheels.

As a preferable mode of the carrying apparatus, the yoke is configured to be switchable between supporting on the ground and disengaging from the ground so that the yoke passes over the bottom beam of the pallet when disengaging from the ground, and the yoke portion inside the yoke hole is supported on the ground after the yoke portion is inserted into the yoke hole.

As a preferable mode of the carrying device, the yoke includes:

the arm body is connected with the mounting rack at one end;

a support disposed on the arm body and spaced apart from the mounting bracket, the support configured to be downwardly extendable relative to the arm body to support the yoke.

As a preferable technical solution of the carrying device, the yoke further includes a lifting drive mechanism for driving the support member to be lifted relative to the arm body and for driving the arm body to be lifted relative to the mounting frame.

As a preferable aspect of the carrying device, the elevation drive mechanism includes:

one end of each of the two first connecting rods is hinged with the supporting piece;

the other ends of the two first connecting rods are respectively connected with the first driving assembly, and the first driving assembly is configured to drive the other ends of the two first connecting rods to move close to or away from each other so as to lift the supporting piece.

As a preferable aspect of the carrying device, the first driving assembly includes:

the screw rod comprises a first thread section and a second thread section which are opposite in rotation direction;

the two first nut seats are respectively sleeved on the first thread section and the second thread section, and the other ends of the two first connecting rods are respectively hinged with the two first nut seats;

and the lifting driving motor is used for driving the lead screw to rotate so as to drive the two first nut seats to move oppositely or backwards along the lead screw.

As a preferable aspect of the carrying device, the elevation drive mechanism includes:

a second connecting rod, the first end of which is hinged with the mounting rack, and the second end of which supports the arm body;

a second drive assembly configured to drive the second link to rotate to raise and lower the arm body.

As a preferable aspect of the carrying device, the second drive transmission assembly includes:

a lead screw including a third threaded section;

the second nut seat is rotatably sleeved on the third thread section, and the second end of the second connecting rod is hinged with the second nut seat;

and the lifting driving motor is used for driving the lead screw to rotate so as to drive the second nut seat to move.

As a preferred technical scheme of the carrying device, the second nut seat comprises a screw sleeve portion and a sliding seat portion sleeved on the screw sleeve portion in a sliding manner, the screw sleeve portion is in transmission fit with the third thread portion, two limiting seat portions for limiting the sliding stroke of the sliding seat portion are arranged on the screw sleeve portion, and the second connecting rod is hinged to the sliding seat portion.

A warehouse logistics system comprising a handling device as described above.

A pallet conveying method for conveying a pallet by using the above conveying apparatus, comprising the steps of:

the mounting frame moves horizontally relative to the vehicle body so that the fork arm extends into the fork hole;

the fork arm moves vertically relative to the vehicle body to lift the tray;

the mounting frame and the vehicle body move horizontally relatively, so that the tray is located right above the vehicle body.

As a preferred technical scheme of a pallet carrying method, the relative horizontal movement of the mounting frame and the vehicle body specifically means: the mounting frame remains stationary and the body moves to the bottom of the pallet.

As a preferable technical scheme of the pallet carrying method, the fork arm comprises an arm body and a supporting piece capable of vertically lifting relative to the arm body, and the supporting piece and the mounting rack are arranged at intervals;

the pallet carrying method further includes: after the fork arm extends into the fork hole for a set depth, the supporting piece moves downwards relative to the arm body to be supported on the ground.

As a preferable technical solution of the pallet handling method, when the supporting member is extended downward relative to the arm body, the fork arm is further extended inward of the fork hole.

As a preferable aspect of the tray conveying method, the fork arm includes a lift drive mechanism, and the tray conveying method further includes: when the fork arms are inserted into the fork holes in place, the lifting driving mechanism drives the arm body to ascend relative to the mounting rack so as to lift the tray, and synchronously drives the supporting piece to extend downwards relative to the arm body so as to continuously abut against the ground.

As a preferable aspect of the tray conveying method, the tray conveying method further includes: when the tray is positioned above the vehicle body, the fork arms descend relative to the vehicle body to contact the tray with the vehicle body;

the support member retracts upwardly out of the way of the ground.

As a preferable aspect of the tray conveying method, the tray conveying method further includes:

the carrying device carries the tray to move to a target point;

the fork arms are lifted relative to the vehicle body, and the tray is separated from contact with the vehicle body;

the vehicle body horizontally moves relative to the mounting rack so that the vehicle body exits the bottom of the tray;

the fork arms descend relative to the vehicle body to put down the tray;

the mounting frame carries the fork arm to retract and move relative to the vehicle body, so that the fork arm exits from the fork hole, and the carrying device resets.

The embodiment of the invention has the beneficial effects that:

according to the carrying device provided by the embodiment of the invention, the fork arms capable of horizontally moving and vertically lifting relative to the vehicle body are arranged, so that when the carrying device carries the tray to be initially butted, only the fork arms extend into the lower part of the tray, the vehicle body is positioned outside the tray, and after the tray is lifted to a preset height, the vehicle body can partially enter the bottom of the tray, so that the tray is lifted by the carrying device in the tray carrying process, the tray is positioned above the vehicle body by the carrying device, the size of the carrying device in the extension direction of the fork arms can be reduced, the turning radius and the occupied space of the carrying device in the tray carrying process are reduced, the use flexibility of the carrying device is improved, and the carrying stability of the tray can be improved; simultaneously, because yoke one end is connected with the mounting bracket, the mounting bracket slides and sets up on the automobile body, makes the relative automobile body of yoke stretch out the back, and the yoke does not can unsettled setting with the part that the mounting bracket is connected, even to field font tray or day style of calligraphy tray that has the floorbar, the yoke also can cross the floorbar and get into in the fork hole without hindrance to make handling device be applicable to the transport of the tray of various different grade types, use the flexibility high, application range is wide.

According to the warehouse logistics system provided by the embodiment of the invention, the trays are carried by adopting the carrying device, so that the convenience and flexibility of carrying the trays can be improved, the operation efficiency of the warehouse logistics system is improved, and the operation cost of the warehouse logistics system is reduced.

According to the tray conveying method provided by the embodiment of the invention, the tray is conveyed by adopting the conveying device, so that the flexibility and the applicability of the tray conveying can be improved, and the turning radius and the occupied space in the tray conveying process are reduced.

Drawings

Fig. 1 is a schematic structural diagram of a carrying device in an initial state according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a carrying device in a state where a fork arm of the carrying device is extended according to an embodiment of the present invention

FIG. 3 is a schematic structural diagram of a tray according to an embodiment of the present invention;

FIG. 4 is a schematic front view of a vehicle body according to an embodiment of the present invention;

FIG. 5 is a schematic rear view of a vehicle body according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a translation driving mechanism according to an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of a yoke according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a lifting driving mechanism according to an embodiment of the present invention;

FIG. 9 is a schematic view of the yoke engaging the mounting bracket when the yoke is in the initial state according to an embodiment of the present invention;

FIG. 10 is a schematic view of the mechanism of FIG. 9 with the arm body removed;

FIG. 11 is a schematic view of the fork arm and the mounting bracket of the present invention in a raised position;

FIG. 12 is a schematic view of the structure of FIG. 11 with the arm body removed;

fig. 13 is a schematic view illustrating the docking of the carrying device with the tray in the initial state according to the second embodiment of the present invention;

FIG. 14 is a front view of the structure of FIG. 13;

FIG. 15 is a schematic view of the carrying device of the second embodiment of the present invention in a state where the fork arms are extended;

FIG. 16 is a schematic view of the carrying device of the second embodiment of the present invention in the state of extending the fork arms and lifting the pallet;

FIG. 17 is a schematic view of the docking of the carrying device with the pallet in the retracted and elevated position of the fork arms according to the second embodiment of the present invention;

fig. 18 is a schematic view illustrating the docking of the carrying device provided by the second embodiment of the present invention with the tray in the docked state.

The figures are labeled as follows:

10. a carrying device; 20. a tray; 201. a fork hole;

1. a vehicle body; 11. a housing; 111. a bearing surface; 112. a containing groove; 1121. limiting groove walls; 113. an X-direction guide groove; 114. a first guide roller; 12. a drive wheel; 13. a universal wheel;

2. a yoke; 21. an arm body; 22. a lifting drive mechanism; 221. a lead screw; 2211. a first thread segment; 2212. a second thread segment; 2213. a third thread segment; 2214. a first optical axis segment; 2215. a second optical axis segment; 222. a first link; 223. a first nut seat; 224. a second nut seat; 2241. a screw housing portion; 2242. a limiting seat part; 2243. a slide seat portion; 225. a second link; 226. a lead screw seat; 227. a lifting drive motor; 228. a speed reducer; 229. a limiting sleeve; 23. a support member; 24. a third guide roller; 25. hinging a shaft;

3. a translation drive mechanism; 31. a mounting frame; 311. a bracket part; 3111. a side plate; 3112. a connecting portion; 3113. a Z-direction guide groove; 3114. a hinge hole; 312. a connection frame part; 3121. mounting grooves; 313. a shelf top plate; 32. an electric roller; 321. a rolling member; 322. installing a shaft; 33. an elastic member; 34. and a second guide roller.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

As shown in fig. 1-3, the present embodiment provides a handling device 10, which can be applied to a warehouse logistics system for forklift-type handling of a tray 20 for carrying materials, so as to improve the efficiency and convenience of material handling. The transport apparatus 10 according to this embodiment may be an AGV type transport apparatus, an AMR type transport apparatus, or another type of transport apparatus capable of carrying materials or trays.

Specifically, the carrying device 10 includes a vehicle body 1, a mounting frame 31, and a yoke 2, the vehicle body 1 being capable of autonomous movement; the fork arm 2 is arranged on the vehicle body 1, and the mounting frame 31 is arranged on the vehicle body 1 in a horizontally sliding manner; the first end of the yoke 2 is connected to the mounting bracket 31, the yoke 2 is configured to be horizontally protruded to be inserted into the fork hole 201 of the tray 20 with the movement of the mounting bracket 31, and to be lifted and lowered relative to the vehicle body 1 to lift the tray 20, and when the yoke 2 lifts the tray 20, the relative movement of the vehicle body 1 and the mounting bracket 31 enables the tray 20 to be positioned above the vehicle body 1.

In the carrying device 10 provided by the embodiment, by providing the fork arm 2 capable of moving horizontally and lifting vertically relative to the vehicle body 1, when the tray 20 needs to be carried, the fork arm 2 can be moved horizontally relative to the vehicle body 1 to partially extend out of the vehicle body 1, so that the fork arm 2 is inserted into the fork hole 201 of the tray 20; then, the pallet 20 is lifted through the lifting of the fork arms 2 relative to the vehicle body 1, so that the pallet 20 is lifted and separated from the ground; when the tray 20 is lifted to a certain height, the fork arm 2 retracts relative to the vehicle body 1, so that the vehicle body 1 can enter the bottom of the tray 20 at least partially; thereafter, the pallet 20 is supported integrally with the vehicle body 1 and/or the yoke 2 by lowering the yoke 2.

That is, the carrying device 10 provided in this embodiment, by providing the fork arm 2 capable of moving horizontally and lifting vertically relative to the vehicle body 1, when the carrying device 10 carries the tray 20 to perform initial docking, only the fork arm 2 needs to extend into the fork hole 201, the vehicle body 1 is located outside the tray 20, and after the tray 20 is lifted to a preset height, the vehicle body 1 can partially enter the bottom of the tray 20, so that while the carrying device 10 is enabled to fork the tray 20, the tray is located above the vehicle body 1 during carrying the tray 20 by the carrying device 10, thereby reducing the size of the carrying device 10 along the extending direction of the fork arm 2 during carrying the tray 20, reducing the turning radius and the occupied space of the carrying device 10 during carrying the tray 20, and improving the flexibility of use of the carrying device 10; meanwhile, because 2 one end of yoke is connected with mounting bracket 31, mounting bracket 31 slides and sets up on automobile body 1, make yoke 2 stretch out the back relative automobile body 1, yoke 2 not can unsettled the setting with the part that mounting bracket 31 is connected, even to the field style of calligraphy tray or the style of Chinese character ri style of calligraphy tray that have the floorbar, yoke 2 also can cross the floorbar without hindrance and get into the fork hole to make handling device 10 be applicable to the transport of the tray of various different grade types, it is high to use the flexibility, application range is wide.

The tray 20 may be a rectangular tray as shown in fig. 3, or may be a japanese tray, or a tray having another structure, as long as the tray 20 has the fork holes 201 into which the fork arms 2 can be inserted, and the specific structure of the tray 20 that can be conveyed by the conveying device 10 is not limited in this embodiment. In addition, the specific structure of the carrying device 10 is described in this embodiment by taking a chinese standard 1200x1000x153m tray with a shape like a Chinese character tian as an example, and the carrying of the tray 20 with a shape like a Chinese character tian by the carrying device 10 can refer to the carrying of the tray 20 with a shape like a Chinese character tian, which is not described in detail in this embodiment.

For convenience of description, a coordinate system is established in the direction shown in fig. 1, wherein the X direction is the extending direction of the yoke 2, the Z direction is the height direction, and the Y direction is determined according to the right-hand rule.

For convenience of description, a state when the carrying device 10 is not docked with the tray 20 is an initial state, a state where the yoke 2 is extended in the X direction relative to the vehicle body 1 and is not raised is a yoke extended state, a state where the yoke 2 is extended relative to the vehicle body 1 and is raised to a certain height relative to the vehicle body 1 is referred to as a yoke extended and lifted state, a state where the yoke 2 is retracted to a horizontal initial position and is raised to a certain height relative to the vehicle body 1 is referred to as a yoke retracted and lifted state, and a state where the yoke 2 is docked with the tray 2 when the carrying device is docked with the tray is referred to as a docked and in-place state. That is, from the beginning of the docking of the carrying device 10 to the docking of the tray 20, the carrying device 10 is sequentially in the initial state, the extended lifted state, the retracted lifted state and the docking state.

In order to improve the transportation stability of the pallet 20, the fork arms 2 are provided at intervals in the Y direction. Usually, the fork holes 201 on the tray 20 are provided in two, i.e. the fork arms 2 are preferably provided in two. It will be appreciated that when the material is of a larger size, so that there may be three or more fork holes 201 on the tray 20, three or more fork arms 2 may be correspondingly provided.

In order to further improve the structural compactness of the carrying device 10 and reduce the volume of the carrying device 10, a carrying surface 111 for carrying the tray 20 is formed on the upper surface of the vehicle body 1, a receiving groove 112 is formed at a position of the carrying surface 111 corresponding to the yoke 2, the receiving groove 112 extends along the X direction and has one end penetrating through a corresponding side wall of the vehicle body 1 and the other end forming a position-limiting groove wall 1121, and the position-limiting groove wall 1121 limits the yoke 2 from extending out of the vehicle body 1 in the opposite direction. When the yoke 2 is in the initial state, the yoke 2 is at least partially accommodated in the accommodating groove 112. The provision of the accommodating groove 112 can reduce the overall thickness of the carrying device 10 in the Z direction, improve the compactness, and facilitate the guiding of the sliding of the yoke 2 in the X direction.

Preferably, the depth of the accommodating groove 112 is larger than the thickness of the yoke 2 in the Z direction, and the upper surface of the yoke 2 is lower than the upper surface of the vehicle body 1 when the carrying device is in the initial state. This kind of setting can be after handling device 10 and tray 20 accomplish the butt joint, and tray 20 supports completely on automobile body 1, avoids the fatigue damage that fork arm 2 supported tray 20 for a long time and caused, improves the life of fork arm 2, and can improve the support stability to tray 20. In other embodiments, the upper surface of the yoke 2 may be higher than the upper surface of the vehicle body 1 or the upper surface of the yoke 2 may be flush with the upper surface of the vehicle body 1. More preferably, the length of the accommodating groove 112 along the X direction is greater than the length of the fork arm 2, and when the carrying device is in the initial state, the fork arm 2 is completely accommodated in the accommodating groove 112.

In this embodiment, to improve the stability of the fork arm 2 extending along the X direction, the two opposite walls of the accommodating groove 112 extending along the X direction are respectively provided with a first guiding roller 114, the first guiding roller 114 is disposed at a position close to the opening of the accommodating groove 112, and when the fork arm 2 is slidably disposed in the accommodating groove 112, the fork arm 2 is supported on the first guiding roller 114. The first guide roller 114 is arranged to support and guide the sliding of the yoke 2 in the accommodating groove 112, and to avoid interference with the lifting movement of the yoke 2 relative to the vehicle body 1.

As shown in fig. 4 and 5, in order to realize the autonomous movement function of the vehicle body 1, the vehicle body 1 includes a housing 11 and a driving wheel mechanism, and the housing 11 has the receiving groove 112 formed in the surface thereof. The driving wheel mechanism comprises a driving wheel 12 and a driving motor for driving the driving wheel 12 to rotate, the driving wheel 12 is arranged at the bottom of the shell 11, and the driving motor is arranged inside the shell 11. In this embodiment, two driving wheels 12 are symmetrically arranged with respect to the central longitudinal axis to improve driving stability. Further, the vehicle body 1 further comprises four universal wheels 13, the four universal wheels 13 are distributed in a rectangular shape, and each driving wheel 12 is arranged between the two universal wheels 13.

In other embodiments, the number and the positions of the driving wheels 12 and the universal wheels 13 may be set as required, and the driving form of the driving wheel mechanism may be differential driving, or may be other driving forms in the prior art, as long as the movement of the conveying device 10 such as forward movement, backward movement, turning, and rotation in situ can be realized, and the specific structure of the driving wheel mechanism 12 is not limited in the present invention.

Preferably, the vehicle body 1 is symmetrically arranged with respect to the central longitudinal axis, and the two forks 2 are symmetrically arranged with respect to the central longitudinal axis, so as to improve the operational stability and the structural compactness of the carrying device 10.

As shown in fig. 1, 2 and 5, the handling device 10 further includes a translation driving mechanism 3, and the translation driving mechanism 3 is respectively connected with the two fork arms 2 to drive the two fork arms 2 to move synchronously along the X direction. This kind of setting can reduce driving cost, and improves handling efficiency of handling device 10, guarantees the synchronism of two yoke 2 translations. In other embodiments, a single translation drive mechanism 3 may be provided for each yoke 2.

The translational driving mechanism 3 comprises the above-mentioned mounting frame 31 and a horizontal driving unit arranged on the mounting frame 31, the mounting frame 31 is in sliding fit with the groove wall of the accommodating groove 112, one end of the yoke 2 close to the limiting groove wall 1121 is connected with the mounting frame 31, and the horizontal driving unit drives the mounting frame 31 to move along the X direction relative to the vehicle body 1. This kind of setting form drives two yoke 2 synchronous motion through the removal of mounting bracket 31, compact structure, and sets up the convenience. In other embodiments, the fixed end of the horizontal driving unit may be fixed relative to the vehicle body 1, and the driving end of the horizontal driving unit is connected with the fork arm 2 to drive the fork arm 2 to move.

In order to improve the stability of the sliding connection between the mounting bracket 31 and the vehicle body 1, the mounting bracket 31 has two bracket portions 311 spaced along the Y direction, lower ends of the two bracket portions 311 respectively extend into the two accommodating grooves 112 and are slidably connected with groove walls of the accommodating grooves 112, and the horizontal driving unit is connected between the two bracket portions 311. This kind of setting can make storage tank 112 use as the guide way of mounting bracket 31 simultaneously, guarantees yoke 2 horizontal migration's direction accuracy and stability.

Furthermore, at least one groove wall of the receiving groove 112 extending along the X direction is provided with an X-guide groove 113, the X-guide groove 113 extends along the X direction and penetrates through one side of the vehicle body 1 away from the limiting groove wall 1121, the support portion 311 is provided with a guide portion corresponding to the X-guide groove 113, and the guide portion extends into the corresponding X-guide groove 113 and is connected with the groove wall of the X-guide groove 113 in a rolling or sliding manner. The arrangement of the X-direction guide groove 113 and the guide portion enables the mounting bracket 31 to be inserted into the accommodating groove 112 from the opening end of the accommodating groove 112, and prevents the mounting bracket 31 from being separated from the accommodating groove 112 along the Z direction, and the X-direction guide groove and the guide portion have a simple structure and low cost.

In other embodiments, other X-direction guiding structures may be provided to realize the sliding connection between the mounting frame 31 and the vehicle body 1, for example, a guide rail is provided on a groove wall of the accommodating groove 112, and a slider or the like engaged with the guide rail is connected to the mounting frame 31. And preferably, in this embodiment, the guiding portion is a second guiding roller 34, and the second guiding roller 34 is in rolling fit with the X-guiding groove 113, so as to reduce friction. In other embodiments, the guide portion may be a slider or the like.

Further, support portion 311 includes two curb plates 3111 that set up along the relative interval of Y direction, and the lateral surface of two curb plates 3111 is provided with second guide roller 34 respectively, correspondingly, all seted up X guide groove 113 on two cell walls of storage tank 112 along the relative setting of Y direction to improve the stationarity that mounting bracket 31 followed the X direction motion. Preferably, two or more second guide rollers 34 are provided on each side plate 3111 in the X direction.

To prevent the ends of the two side plates 3111 from being displaced relative to each other, the bracket portion 311 further includes a connecting portion 3112 connected between the lower ends of the side plates 3111 to enhance the structural strength and rigidity of the bracket portion 311, and the connecting portion 3112 may be, but is not limited to, a plate-shaped structure.

The mounting block 31 further includes a rack top plate 313 connected to the top ends of the two rack parts 311, the rack top plate 313 extending in the Y direction, and the upper ends of the side plates 3111 are perpendicularly connected to the rack top plate 313, so that a space for connecting the yoke 2 is formed between the rack parts 311 and the rack top plate 313.

In the present embodiment, the horizontal driving unit realizes the sliding of the mounting frame 31 relative to the vehicle body 1 by adopting a rolling driving mode, and comprises a rolling member 321, a mounting shaft 322 for mounting the rolling member 321, and a horizontal driving motor for driving the rolling member 321 to rotate. The rolling member 321 is located the automobile body 1 top and with the rolling contact of automobile body 1 upper surface, the installation axle 322 extends along the Y direction and both ends are connected with mounting bracket 31 respectively, the horizontal drive motor is used for driving rolling member 321 to rotate around installation axle 322 to realize the motion of mounting bracket 31 relative automobile body 1 along the X direction.

The translation driving mechanism 3 realizes the movement along the X direction relative to the frame by adopting a rolling driving mode, and all structures of the horizontal driving unit are uniformly distributed on the mounting frame 31, so that the X driving unit has the advantages of compact structure, small occupied space, high transmission efficiency, stable operation and the like. And this kind of driving form that the yoke stretches out is favorable to more making automobile body 1 can make under the circumstances that yoke 2 keeps static, automobile body 1 autonomous movement to tray 20 bottom when yoke 2 stretches out and has lifted tray 20 for automobile body 1, reduces the drive power demand to the horizontal drive unit to can reduce the whole volume of horizontal drive unit, make translation actuating mechanism 3 and handling device structure compacter. In other embodiments, other driving structures capable of realizing the movement of the mounting frame 31 along the X direction may also be adopted, such as a rotating motor cooperating with a rack-and-pinion structure, a rotating motor cooperating with a lead screw 221 and a nut mechanism, and the like.

For simplifying the structure, the rolling member 321 is a roller, the horizontal driving unit adopts a structural form of an electric roller, the installation shaft 322 of the electric roller extends along the Y direction, and two ends of the installation shaft are respectively connected with the installation frame 31, and the electric roller is located above the vehicle body 1 and abuts against the upper surface of the vehicle body 1. By providing the horizontal driving unit as a motorized roller, the horizontal driving motor can be incorporated inside the rolling member 321, so that the horizontal driving unit has a more compact structure and a smaller floor space, and is advantageous for the compact design of the conveying apparatus 10.

In order to facilitate the installation of the electric roller, a connecting frame part 312 is further arranged between the two bracket parts 311, two connecting frame parts 312 are arranged at intervals along the Y direction, the upper end of each connecting frame part 312 is connected with a frame top plate 313, the lower end of each connecting frame part 312 is higher than the upper surface of the vehicle body 1, and the electric roller is clamped between the two connecting frame parts 312.

To facilitate the installation of the motorized pulley, a mounting groove 3121 is formed at a side of each of the link portions 312 facing the motorized pulley, and the mounting shaft 322 of the motorized pulley is inserted into the mounting groove 3121. In order to prevent the motorized pulley from slipping when pressed below the surface of the vehicle body 1, the mounting bracket 31 is further provided with an elastic member 33, and the elastic member 33 is used for elastically pressing the motorized pulley against the upper surface.

In this embodiment, the elastic member 33 is a spring vertically disposed in the mounting groove 3121, an upper end of the spring is connected to an upper groove wall of the mounting groove 3121, a lower end of the spring is pressed against the mounting shaft 322, and the spring is always in a compressed state. In other embodiments, the elastic member 33 may be other members capable of providing elastic pressing force, such as an elastic pad.

To further improve the compactness, the first end of the yoke 2 is located between the two side plates 3113, and the yoke 2 is slidably connected to the mounting bracket 31 and can be raised and lowered in the Z direction relative to the mounting bracket 31. This kind of setting can make the drive yoke 2 level and the drive transmission structure of lift operation all concentrate on yoke 2 and mounting bracket 31, simplifies the structure setting on automobile body 1, improves compact structure nature. In other embodiments, the mounting frame 31 can be lifted relative to the vehicle body 1, so that the two fork arms 2 are lifted by lifting the mounting frame 31.

As shown in fig. 2, in the present embodiment, when the carrying device is in the fork arm extending state, the mounting frame 31 is located near the opening of the accommodating groove 112. To avoid the fork arm 2 extending too long and causing the free end of the fork arm 2 to sag or deform, the fork arm 2 is configured to be switchable between supporting on the ground and disengaging from the ground such that the fork arm passes over the bottom beam of the pallet when disengaging from the ground and the fork arm portion inside the fork hole is supported on the ground after the fork arm portion is inserted into the fork hole. This kind of setting, when making yoke 2 can cross the floorbar of field style of calligraphy tray or day style of calligraphy tray, can make support piece 23 play the effect of auxiliary stay to yoke 2.

Specifically, the yoke 2 includes the arm body 21 that extends along the X direction and support piece 23 and the lift actuating mechanism of setting on arm body 21, lift actuating mechanism connects in support piece 23 and is used for driving support piece 23 and goes up and down relatively arm body 21 vertical, so that support piece 23 can descend to the position that can support in ground, thereby make when handling device is in yoke stretching out state and yoke stretching out the lift state, yoke 2 can be supported by mounting bracket 31 and support piece 23 simultaneously, improve the stability in use and the year thing stability of yoke 2, avoid yoke 2 to take place to buckle or break, improve the life of yoke 2.

As shown in fig. 4, since the supporting member 23 is disposed at a position close to the second end of the yoke 2 and can move downward to contact with the ground, in order to avoid the supporting member 23, one end of the accommodating groove 112 away from the position-limiting groove wall 1121 penetrates through the lower surface of the vehicle body 1, so that when the carrying device is in the retracted and lifted state, the supporting member 23 can contact with the ground and provide support for the yoke 2.

As shown in fig. 7 to 12, the lifting driving mechanism 22 includes two first links 222 and a first driving assembly, one ends of the two first links 222 are both hinged to the support 23, and the other ends of the two first links 222 are respectively connected to the first driving assembly, and the first driving assembly is configured to drive the other ends of the two first links 222 to approach or move away from each other to lift the support 23.

Further, the first driving assembly comprises a lead screw 221, two first nut seats 223 and a lifting driving motor 227, wherein the lead screw 221 comprises a first threaded section 2211 and a second threaded section 2212 with opposite rotation directions; the two first nut seats 223 are respectively sleeved on the first thread section 2211 and the second thread section 2212, and the other ends of the two first connecting rods 222 are respectively hinged with the two first nut seats 223. And the lifting driving motor 227 is used for driving the lead screw 221 to rotate so as to drive the two first nut bases 223 to move towards or away from each other along the lead screw 221.

With this arrangement, when the screw 221 rotates, the two first nut seats 223 move synchronously toward each other or away from each other, so as to drive the second ends of the two first connecting rods 222 to move in a direction approaching or away from each other, thereby driving the supporting member 23 to vertically lift.

The lifting drive mechanism 22 can ensure that the support member 23 can only move in the vertical direction, limit the movement of the support member 23 in the X direction, ensure the accuracy of the position of the support member 23, and shorten the movement stroke of the first nut seat 223 relative to the lead screw 221. In other embodiments, one of the first nut bases 223 can be replaced by a fixed base fixed relative to the arm body 21, and the sliding of the other first nut base 223 along the lead screw 221 drives the two first connecting rods 222 to open and close relatively. However, with this arrangement, the support 23 has a displacement amount not only in the Z direction but also in the X direction.

Two opposite sides of the screw 221 along the Y direction are respectively provided with a set of first links 222, and the two sets of first links 222 are respectively hinged to two ends of the wheel axle of the supporting member 23, so as to improve the connection and support stability of the supporting member 23. In other embodiments, the first connecting rod 222 may be disposed only in one group, such as just below the lead screw 221.

In order to connect the first nut seat 223 with the first connection rod 222, the first nut seat 223 includes a sleeve portion and a connection plate portion protruding from an outer surface of the sleeve portion, and a thread adapted to a corresponding thread section is formed on an inner wall of the sleeve portion. The connecting plate portion extends in the Y direction and both ends are hinged to the two first links 222, respectively. Further, the upper side surface of the web portion is in abutment with the arm body 21 to prevent the first nut seat 223 from rotating relative to the arm body 21.

Further, support piece 23 is support roller, and support roller's shaft extends along the Y direction to guarantee that yoke 2 can also remove along the X direction when supported by support piece 23, improve yoke 2's translation smoothness nature, conveniently adjust yoke 3.

In order to improve the support stability of the support 23 to the arm body 21, the support 23 includes an axle and at least two wheel bodies spaced apart from each other on the axle. At least two wheel bodies are respectively positioned on two opposite sides of the screw rod 221, and when the fork arm 2 is in an initial state, the upper end of each wheel body is higher than the lower side of the screw rod 221, so that the distance between the wheel axle and the screw rod 221 is further shortened, and the structure compactness is improved.

The screw rod 221 is further rotatably sleeved with a screw rod seat 226, the screw rod seat 226 is provided with a light hole for the screw rod 221 to pass through, and the screw rod seat 226 is connected with the arm body 21. Further, the lead screw 221 includes a first optical axis segment 2214 located between the first thread segment 2211 and the second thread segment 2212, and the lead screw seat 226 is sleeved on the first optical axis segment 2214, so as to prevent the two first nut seats 223 from colliding with each other, and avoid generating wear to the thread on the lead screw 221.

More preferably, the screw seats 226 are disposed at two ends of the first optical axis segment 2214, and the support 23 is located between the two screw seats 226 when the carrying device is in the initial state. With the arrangement, the first nut seat 223 can be prevented from colliding with the support 23, and the opposite movement stroke of the first nut seat 223 is limited; meanwhile, the initial installation position of the supporting part 23 can be raised, so that when the yoke 2 is in the initial state, the supporting part 23 is clamped between the two screw rod seats 226, and when the initial state is shortened, the gap between the screw rod 221 and the supporting part 23 is shortened, so that the overall thickness of the yoke 2 in the Z direction in the initial state is reduced, and the structural compactness is improved.

Further, a limit sleeve 229 is sleeved on one end of the first thread section 2211 far away from the screw seat 226, and one end of the second thread section 2212 far away from the screw seat 226 is abutted to the arm body 21, so as to realize stroke limit when the corresponding first nut seat 223 moves backwards.

Further, the lifting driving mechanism 22 can also drive the arm body 21 to vertically lift relative to the mounting frame 31 synchronously, so that the arrangement of a driving structure on the fork arm 2 is simplified, the cost is reduced, and the structure compactness is improved.

Specifically, the lifting drive mechanism 22 includes a second link 225 and a second drive assembly, a first end of the second link 225 is hinged to the mounting frame 31, and the other end supports the arm body 21, and the second drive assembly is configured to drive the second link 225 to rotate to lift the arm body 21. The rotation of the second connecting rod 225 drives the arm body 21 to ascend and descend, so that the rotation stability can be improved, the occupied space of the ascending and descending driving mechanism 22 in the vertical direction is reduced, and the cost is reduced.

In this embodiment, the second driving assembly includes the above-mentioned screw shaft 221 and the lifting driving motor 227, and further includes a second nut seat 224, the screw shaft 221 includes a third threaded section 2213, the second nut seat 224 is rotatably sleeved on the third threaded section, and a second end of the second connecting rod 225 is hinged to the second nut seat 224. According to the arrangement, the first driving assembly and the second driving assembly share the lead screw 221 and the lifting driving motor 227, the cost is reduced, the structure is simplified, and in other embodiments, the first driving assembly and the second driving assembly can be arranged independently.

In this embodiment, the first end of the second link 225 is hinged to the bottom end of the bracket portion 311, the second link 225 is located on a side of the second nut seat 224 facing the mounting bracket 31, and the third threaded section 2213 and the second threaded section 2212 are rotated in the same direction. And when the yoke 2 is in the initial state, the lead screw 221 is higher than the first end of the second link 225, and the second link 225 extends obliquely upward in the direction from the first end to the second end. With this arrangement, when the arm body 21 needs to be raised, the second nut seat 224 moves in a direction toward the mounting frame 31, and the second end of the second link 225 turns upward around the first end thereof, thereby lifting the lead screw 221.

Because the carrying device has the yoke extending state and the yoke extending and lifting state, in order to ensure that the supporting member 23 can be lowered to be in contact with the ground in both the extending state and the extending and lifting state, preferably, the second nut seat 224 comprises a screw sleeve part 2241 and a sliding seat part 2243 sleeved on the screw sleeve part 2241 in a sliding way, the screw sleeve part 2241 is in transmission fit with the third screw thread section 2213, two limiting seat parts 2242 for limiting the sliding stroke of the sliding seat part 2243 are arranged on the screw sleeve part 2241, and the second connecting rod 225 is hinged to the sliding seat part 2243.

Taking the direction shown in fig. 8 as an example, when the conveying apparatus 10 is in the initial state, the slide base 2243 and the right stopper base 2242 have a certain gap, so that at the initial stage of the movement of the second nut base 224 along the lead screw 221, the slide base 2243 slides with respect to the screw sleeve 2241, the slide base 2243 is not moved, the first link 222 is not operated, that is, the lead screw 221 is not lifted and lowered, and only the support 23 is lifted and lowered; when the slide seat 2243 slides to abut against the right position-limiting seat 2242, the screw sleeve 2241 moves along the screw rod 221 to drive the slide seat 2243 to move along the screw rod 221, so as to drive the first link 222 to move, and the screw rod 221 is lifted. When the yoke 2 is in the initial state, the gap between the slide part 2243 and the right-hand limit seat part 2242 can be specifically set according to the height of the support 23 from the ground.

In the present embodiment, two second connecting rods 225 are provided, two second connecting rods 225 are respectively located at two opposite sides of the lead screw 221, and the upper end of each second lead screw 225 is hinged to the sliding base portion 2243. By the arrangement, synchronous lifting at two ends of the second connecting rod 225 can be effectively realized, and the stability of lifting motion of the arm body 21 is improved.

In order to improve the hinging convenience of the second connecting rods 225 and the mounting frame 31, the yoke 2 further comprises a hinging shaft 25, the hinging shaft 25 extends along the Y direction, and the lower ends of the two second connecting rods 225 are hinged to the hinging shaft 25. Hinge holes 3114 are formed in the side plates 3111 of the mounting bracket 31, and both ends of the hinge shaft 25 are respectively inserted into the hinge holes 3114.

The screw 221 further includes a second optical axis segment 2215 located between the first thread segment 2211 and the third thread segment 2213, and the lifting driving motor 227 is in transmission connection with the second optical axis segment 2215 through the reducer 228. The reduction gear 228 is provided to reduce the rotation speed of the screw shaft 221 and increase the torque of the screw shaft 221, thereby improving the operational stability of the elevation drive mechanism 22.

In other embodiments, the lifting driving mechanism 22 for driving the supporting member 23 to vertically lift and the lifting driving mechanism 22 for driving the driving arm body 21 to vertically lift relative to the mounting frame 31 may be separately disposed, and both the two sets of lifting driving mechanisms 22 may adopt driving structural forms such as a motor cooperating with a sprocket chain drive, a lead screw nut mechanism, a slider-crank mechanism or a link mechanism, or linear driving structural forms such as a linear motor and a hydraulic cylinder, and the above various linear driving structures are common and are not described herein again.

The arm body 21 has a long box-like structure with an open lower end, and a cavity with an open lower end is formed in the arm body, and the screw 221, the elevation driving motor, and the reducer 228 are accommodated in the cavity to protect the elevation driving mechanism 22, thereby improving the compactness of the structure and the appearance of the yoke 2.

In order to improve the stability of the arm body 21 sliding with respect to the mounting bracket 31, Z guide grooves 3113 are provided on both inner sides of the side plates 3111 of the bracket portion 311, and the Z guide grooves 3113 extend in the Z direction. The arm body 21 is provided with guides on opposite sides in the Y direction, the guides extending into the corresponding Z guide grooves 3113 and being in sliding or rolling engagement with the groove walls of the Z guide grooves 3113. In the present embodiment, the guide member is the third guide roller 24, and preferably, at least two third guide rollers 24 are provided in the Z direction.

This embodiment still provides a warehouse logistics system, including tray 20 and foretell handling device 10, carry the tray through adopting foretell handling device, can improve convenience and the flexibility of carrying the tray, improve warehouse logistics system's operating efficiency, reduce warehouse logistics system's running cost.

Example two

As shown in fig. 13 to 18, the present embodiment provides a pallet conveying method, which uses the conveying device 10 of the first embodiment to convey the pallet 20.

The tray carrying method provided by the embodiment specifically comprises the following steps:

step S1, the conveying device 10 moves to the front of the tray 20, and the fork arm 2 of the conveying device 10 is opposite to the fork hole 201 of the tray 20;

the carrying device 10 is automatically moved to the right in front of the tray 20 by the navigation system, and the automatic navigation of the carrying device 10 can be performed according to the prior art.

Step S2, the horizontal driving unit operates in the forward direction to drive the mounting frame 31 to move along the X direction relative to the vehicle body 1, so that the yoke 2 extends into the insertion fork hole 201 along the X direction;

specifically, in the present embodiment, the motorized roller rotates to move the mounting frame 31 in the X direction.

Step S3, after the free end of the fork arm 2 extends out of the vehicle body 1 for a set distance, the lifting driving mechanism 22 moves forward to drive the supporting piece 23 to descend relative to the arm body 21 to be in contact with the ground;

after the free end of the yoke 2 extends out of the vehicle body 1 for a set distance, the supporting piece 23 is supported on the ground, so that auxiliary support can be provided for the yoke 2, and the yoke 2 is prevented from being bent.

Step S4, after the fork arm 2 continues to extend forwards to the maximum distance, the horizontal driving unit stops running;

step S5, the lifting driving mechanism 22 is operated in the positive direction, so that the arm body 21 is lifted relative to the mounting frame 31, and meanwhile, the supporting piece 23 is lowered relative to the arm body 21 until the bottom of the tray 20 is lifted to a preset height relative to the ground;

in this embodiment, the screw 221 rotates to drive the two first nut seats 223 to move oppositely, so as to drive the supporting member 23 to descend relative to the arm body 21; at the same time, the second nut holder 224 slides in a direction approaching the mounting bracket 31, and drives the second link 225 to turn upward about the hinge shaft 25.

Step S6, the vehicle body 1 moves to the bottom of the tray 20 along the X direction under the premise that the driving wheel mechanism acts to keep the fork arm 2 and the mounting rack 31 still;

step S7, the lifting driving mechanism 22 moves reversely to drive the arm body 21 to descend relative to the mounting frame 31 and the supporting member 23 to ascend relative to the arm body 21 until the arm body 21 drives the tray 20 to descend to contact with the upper surface of the car body 1;

in the present embodiment, the lead screw 221 rotates reversely, the two first nut seats 223 run back, and the height between the support 23 and the lead screw 221 decreases; at the same time, the second nut holder 224 slides in a direction away from the mounting bracket 31, so that the second link 225 is turned downward about the hinge shaft 25, and the arm body 21 is moved downward, thereby lowering the tray 20 loaded on the arm body 21.

Step S8, the lead screw 221 continues to move reversely, the sliding seat part 2243 slides relative to the limiting seat part 2242, the supporting part 23 moves upwards to be separated from the ground, and the carrying device 10 reaches a butt joint in-place state;

step S9, the carrying device 10 moves to a predetermined destination with the pallet 20;

step S10, the lifting driving mechanism 22 moves forward to drive the lead screw 221 to rise to a set height, and meanwhile, the supporting member 23 moves downward relative to the arm body 21 to contact the ground;

step S11, the driving wheel mechanism 12 acts reversely, so that the vehicle body 1 moves to the lower part of the shifting-out tray 20 relative to the mounting frame 31 and the fork arm 2;

step S12, the lifting driving mechanism 22 moves reversely to drive the screw rod 221 to descend, so that the arm body 21 drives the tray 20 to descend to contact with the ground, and meanwhile, the supporting member 23 moves upward relative to the arm body 21;

step S13, the horizontal driving unit reversely acts to enable the mounting rack 31 and the fork arm 2 to move relative to the vehicle body 1 until the fork arm 2 is separated from the fork hole 201 until the mounting rack 31 and the fork arm 2 return to the initial positions;

step S14, the lead screw 221 rotates reversely, and drives the supporting member 23 to move continuously in the direction toward the arm body 21 until the supporting member 23 is separated from the ground.

It is understood that step S13 and step S14 may be performed synchronously or sequentially.

According to the tray conveying method provided by the embodiment, the tray is conveyed by adopting the conveying device, so that the flexibility and the applicability of the conveying of the tray can be improved, and the turning radius and the occupied space in the conveying process of the tray are reduced.

EXAMPLE III

The present embodiment provides a tray conveying method, in which the conveying device 10 in the first embodiment is adopted to convey the tray 20, and the tray conveying method provided in the present embodiment is basically the same as the tray conveying method provided in the second embodiment, and only some steps are different, and the steps that are the same as those in the second embodiment are not repeated in this embodiment.

The tray carrying method comprises the following steps:

step S1-step S5 refer to example II;

step S7, the vehicle body 1 is kept still, the horizontal driving unit rotates reversely, and the mounting rack 31 and the fork arm 2 are driven to move backwards relative to the vehicle body 1 until the fork arm 2 returns to the position above the vehicle body 1;

step S7-step S10 refer to example II;

step S11, keeping the vehicle body 1 still, and driving the horizontal driving unit to rotate forward to drive the mounting rack 31 and the fork arm 2 to extend forward to the bottom of the vehicle body 1 separated from the tray 20;

reference is made to example two from steps S12 to S14.

It is understood that, in the specific implementation, it is also possible that step S7 adopts step S7 in the first embodiment, step S11 adopts step S11 in the second embodiment, or step S7 adopts step S7 in the second embodiment, and step S11 adopts step S11 in the first embodiment, as long as the relative movement between the yoke 2 and the vehicle body 1 is realized.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (25)

1. A handling device for handling pallets (20), comprising:

a vehicle body (1) that can move autonomously;

a mounting frame (31) which is horizontally slidably provided on the vehicle body (1);

a yoke (2) having a first end connected to the mounting frame (31), the yoke (2) being configured to be horizontally extendable with movement of the mounting frame (31) for insertion into a yoke hole (201) of the pallet (20), and to be liftable relative to the vehicle body (1) for lifting the pallet (20), and when the yoke (2) lifts the pallet (20), relative movement of the vehicle body (1) and the mounting frame (31) enables the pallet (20) to be located above the vehicle body (1).

2. The handling device according to claim 1, characterized in that it further comprises:

and the horizontal driving unit is arranged on the mounting rack (31) and is used for driving the mounting rack (31) to horizontally move relative to the vehicle body (1).

3. The handling device according to claim 2, wherein the horizontal driving unit comprises:

a rolling member (321) rotatably provided on the mounting bracket (31) and in rolling contact with an upper surface of the vehicle body (1);

and the horizontal driving motor is used for driving the rolling member (321) to rotate.

4. A handling device according to claim 3, characterized in that said mounting frame (31) is provided with resilient members (33) for resiliently urging said rolling members (321) against the upper surface of said body (1).

5. The carrying device as claimed in claim 1, wherein the vehicle body (1) has a receiving slot (112) formed on an upper surface thereof, and the yoke (2) is capable of being received in the receiving slot (112).

6. A handling device according to claim 5, characterised in that said mounting frame (31) is movable along the walls of said accommodation slot (112).

7. The carrier device according to claim 1, wherein a carrying surface (111) for carrying the tray (20) is formed on an upper surface of the vehicle body (1), and the tray (20) is supported on the carrying surface (111) when the tray (20) is moved directly above the vehicle body (1).

8. The handling device according to any of claims 1-7, characterized in that the handling device is configured to: when the fork arm (2) stretches out and lifts the tray (20) relative to the vehicle body (1), the vehicle body (1) can move to the bottom of the tray (20) relative to the fork arm (2) on the premise that the mounting frame (31) is static.

9. The conveying apparatus according to any one of claims 1 to 7, wherein the yoke (2) is provided at two intervals in a width direction thereof, the vehicle body (1) has at least one pair of driving wheels symmetrically provided in the width direction, and the two yokes (2) are symmetrically provided with respect to a symmetry axis of the pair of driving wheels.

10. Handling device according to any of claims 1-7, c h a r a c t e r i z e d in that the yoke (2) is arranged to be switchable between supporting on the ground and disengaging from the ground, so that the yoke (2) passes over the bottom beam of the pallet (20) when disengaging from the ground, and that the yoke (2) inside the yoke hole (201) is partly supported on the ground after the yoke (2) has been partly inserted into the yoke hole (201).

11. Handling device according to claim 10, wherein the yoke (2) comprises:

an arm body (21) having one end connected to the mounting bracket (31);

a support (23) disposed on the arm body (21) and spaced from the mounting bracket (31), the support (23) configured to be capable of being extended downward relative to the arm body (21) to support the yoke (2) and retracted upward to disengage the yoke (2) from the ground.

12. Handling device according to claim 11, wherein the yoke (2) further comprises a lifting drive mechanism (22) for driving the support (23) to lift relative to the arm body (21) and for driving the arm body (21) to lift relative to the mounting frame (31).

13. The handling device according to claim 12, characterized in that the lift drive mechanism (22) comprises:

two first connecting rods (222), wherein one ends of the two first connecting rods (222) are hinged with the support (23);

and the other ends of the two first connecting rods (222) are respectively connected with the first driving assembly, and the first driving assembly is configured to drive the other ends of the two first connecting rods (222) to move close to or away from each other so as to lift the support (23).

14. The handling device of claim 13, wherein the first drive assembly comprises:

a lead screw (221), the lead screw (221) comprising a first thread section (2211) and a second thread section (2212) with opposite rotation directions;

the two first nut seats (223) are respectively sleeved on the first thread section (2211) and the second thread section (2212), and the other ends of the two first connecting rods (222) are respectively hinged with the two first nut seats (223);

and the lifting driving motor (227) is used for driving the lead screw (221) to rotate so as to drive the two first nut bases (223) to move towards or away from each other along the lead screw (221).

15. The handling device according to claim 12, characterized in that the lift drive mechanism (22) comprises:

a second link (225) having a first end hinged to the mounting frame (31) and a second end supporting the arm body (21);

a second drive assembly configured to drive the second link (225) to rotate to raise and lower the arm body (21).

16. The handling device of claim 15, wherein the second drive assembly comprises:

a lead screw (221), the lead screw (221) comprising a third threaded section (2213);

the second nut seat (224) is rotatably sleeved on the third threaded section (2213), and the second end of the second connecting rod (225) is hinged with the second nut seat (224);

and the lifting driving motor (227) is used for driving the lead screw (221) to rotate so as to drive the second nut seat (224) to move.

17. The carrying device as claimed in claim 16, characterized in that the second nut seat (224) comprises a sleeve portion (2241) and a sliding seat portion (2243) slidably sleeved on the sleeve portion (2241), the sleeve portion (2241) is in transmission fit with the third threaded section (2213), two limiting seat portions (2242) for limiting the sliding stroke of the sliding seat portion (2243) are arranged on the sleeve portion (2241), and the second connecting rod (225) is hinged with the sliding seat portion (2243).

18. A warehouse logistics system, comprising a handling device according to any of claims 1-17.

19. A pallet handling method, characterized in that a pallet (20) is handled using a handling device according to any one of claims 1-17, and comprising the steps of:

the mounting frame (31) moves horizontally relative to the vehicle body (1) so that the fork arm (2) extends into the fork hole (201);

the fork arm (2) moves vertically relative to the vehicle body (1) to lift the tray (20);

the mounting frame (31) and the vehicle body (1) move horizontally relatively, so that the tray (20) is located right above the vehicle body (1).

20. The pallet handling method according to claim 19, wherein said relative horizontal movement of said mounting frame (31) and said car body (1) is specifically: the mounting frame (31) remains stationary and the vehicle body (1) moves to the bottom of the pallet (20).

21. A pallet handling method according to claim 19, characterised in that said fork arm (2) comprises an arm body (21) and a support (23) vertically liftable with respect to said arm body (21), said support (23) being arranged spaced from said mounting frame (31);

the pallet carrying method further includes: after the fork arm (2) extends into the fork hole (201) to a set depth, the supporting piece (23) moves downwards relative to the arm body (21) to be supported on the ground.

22. Pallet handling method according to claim 21, characterized in that the fork arms (2) continue to reach inside the fork holes (201) when the support (23) projects downwards with respect to the arm body (21).

23. The pallet handling method according to claim 21, wherein the fork arm (2) comprises a lift drive mechanism (22), the pallet handling method further comprising: when the fork arm (2) is inserted into the fork hole (201) in place, the lifting driving mechanism (22) drives the arm body (21) to ascend relative to the mounting frame (31) so as to lift the tray, and synchronously drives the support piece (23) to extend downwards relative to the arm body (21) so as to continuously press against the ground.

24. The pallet handling method according to claim 21, further comprising: when the tray (20) is positioned above the vehicle body (1), the fork arm (2) descends relative to the vehicle body (1) to contact the tray (20) with the vehicle body (1);

the support (23) is retracted upwardly out of the ground.

25. The pallet handling method according to any one of claims 19 to 24, further comprising:

the carrying device carries a tray (20) to run to a target point;

the fork arm (2) is lifted relative to the vehicle body (1), and the tray (20) is separated from the contact with the vehicle body (1);

the vehicle body (1) moves horizontally relative to the mounting frame (31) so that the vehicle body (1) exits the bottom of the tray (20);

the fork arm (2) descends relative to the vehicle body (1) to put down the tray (20);

the mounting frame (31) carries the fork arm (2) to retract relative to the vehicle body (1), so that the fork arm (2) exits the fork hole (201), and the carrying device resets.

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